This paper focuses on the intersection safety especially in right turn driving situation which drivers need to negotiate pedestrians or bicycles near crosswalk region. Using a micro electric vehicle as an experimental vehicle, this paper describes an autonomous collision avoidance by electric braking of the in-wheel-motor electric vehicle. Pedestrians on the crosswalk can be detected by the LIDAR sensor and the relative distance between the pedestrian and the vehicle and the pedestrian walking velocity can also be measured by the LIDAR. The automatic braking control algorithm for pedestrian collision avoidance was proposed by the application of Potential Fields. The automatic steering control is conducted to follow the desired yaw angle for right turn maneuver. From the experimental study by using the micro electric vehicle, the vehicle can negotiate pedestrians which walk with arbitrary velocity in the intersection during right turn maneuver without collision.
Preventing intersection collision accidents by intelligent motion control of in-wheel-motor electric vehicles
2011
6 Seiten, 11 Bilder, 2 Tabellen, 7 Quellen
Conference paper
English
British Library Conference Proceedings | 2011
|Drivers’ Collision Avoidance Pattern Before Imminent Intersection Accidents
Springer Verlag | 2018
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